scholarly journals A simple design rule for 1st order form-closure of underactuated hands

2011 ◽  
Vol 2 (1) ◽  
pp. 1-8 ◽  
Author(s):  
S. Krut ◽  
V. Bégoc
Keyword(s):  
International Workshop ◽  
Contact Forces ◽  
Design Rule ◽  
General Definition ◽  
Order Form ◽  
Contact Points ◽  
Original Definition ◽  
Form Closure ◽  
The Stability ◽  
Definition Of

Abstract. The property of form-closure of a grasp, as generally defined in the literature, is based on the assumption that contact points between the hand and the object are fixed in space. However, this assumption is false when considering a grasp exerted by an underactuated hand, since in this case, it is not possible to control the position of each phalanx independently. In spite of researchers' interest in studying form-closure, none of the available published work on this subject takes into consideration the particular kinematics of underactuated hands. Actually, there are few available tools to qualify or quantify the stability of a grasp exerted by an underactuated hand, thus the design of underactuated hands mostly results from an intuitive approach. This paper aims to reduce this gap. A classification of underactuated hands is proposed, based on the expression of contact forces. This highlights the influence of non-backdrivable mechanisms introduced in the transmission of the closing motion of the hand on the stability of the grasp. The way to extend the original definition of form-closure to underactuated grasps is illustrated. A more general definition is formulated, which checks the stability of the set "object + hand". Using this new definition, a simple rule is proposed for designing a hand capable of achieving 1st order form-closed grasps. This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010), 19 August 2010, Montréal, Canada.

scholarly journals Proportional lumpability and proportional bisimilarity

2021 ◽  
Author(s):  
Andrea Marin ◽  
Carla Piazza ◽  
Sabina Rossi
Keyword(s):  
Markov Chain ◽  
Markov Chains ◽  
Upper And Lower Bounds ◽  
General Definition ◽  
Performance Indices ◽  
State Aggregation ◽  
Structural Regularity ◽  
Original Definition ◽  
Aggregation Technique ◽  
Definition Of

AbstractIn this paper, we deal with the lumpability approach to cope with the state space explosion problem inherent to the computation of the stationary performance indices of large stochastic models. The lumpability method is based on a state aggregation technique and applies to Markov chains exhibiting some structural regularity. Moreover, it allows one to efficiently compute the exact values of the stationary performance indices when the model is actually lumpable. The notion of quasi-lumpability is based on the idea that a Markov chain can be altered by relatively small perturbations of the transition rates in such a way that the new resulting Markov chain is lumpable. In this case, only upper and lower bounds on the performance indices can be derived. Here, we introduce a novel notion of quasi-lumpability, named proportional lumpability, which extends the original definition of lumpability but, differently from the general definition of quasi-lumpability, it allows one to derive exact stationary performance indices for the original process. We then introduce the notion of proportional bisimilarity for the terms of the performance process algebra PEPA. Proportional bisimilarity induces a proportional lumpability on the underlying continuous-time Markov chains. Finally, we prove some compositionality results and show the applicability of our theory through examples.

Stability Analysis of High-Speed Railway Vehicle Based on Multibody Dynamics Analysis

2013 ◽  
Vol 392 ◽  
pp. 156-160
Author(s):  
Ju Seok Kang
Keyword(s):  
Stability Analysis ◽  
Multibody Dynamics ◽  
High Speed ◽  
Equations Of Motion ◽  
Contact Forces ◽  
Design Parameters ◽  
Railway Vehicle ◽  
Dynamics Analysis ◽  
Contact Points ◽  
The Stability

Multibody dynamics analysis is advantageous in that it uses real dimensions and design parameters. In this study, the stability analysis of a railway vehicle based on multibody dynamics analysis is presented. The equations for the contact points and contact forces between the wheel and the rail are derived using a wheelset model. The dynamics equations of the wheelset are combined with the dynamics equations of the other parts of the railway vehicle, which are obtained by general multibody dynamics analysis. The equations of motion of the railway vehicle are linearized by using the perturbation method. The eigenvalues of these linear dynamics equations are calculated and the critical speed is found.

On the Influence of Contact Geometry on Grasp Stability

2008 ◽  
Author(s):  
Gert A. Kragten ◽  
Just L. Herder ◽  
A. L. Schwab
Keyword(s):  
Contact Stiffness ◽  
Contact Geometry ◽  
Contact Forces ◽  
Minor Effect ◽  
Dynamic Simulations ◽  
Normal Contact ◽  
Contact Points ◽  
Grasp Stability ◽  
The Stability ◽  
A Minor

This paper demonstrates that the predicted grasp stability is highly sensitive to only small changes in the character of the contact forces. The contribution of the geometry and stiffness at the contact points to the grasp stability is investigated by a planar grasp with three contact points. Limit cases of zero and infinite contact curvatures, and finite to infinite contact stiffnesses are considered. The stability is predicted based on the approach of Howard and Kumar [1], and verified with multibody dynamic simulations. For rigid objects and fingers with only normal contact stiffness, the grasp stability is dominated by the contact geometry, whereas the local contact stiffness and preload have a minor effect. Furthermore, grasps with pointed finger tips are more likely to be stable than grasps with flat finger tips.

scholarly journals A Lookup-Table-Based Approach for Spatial Analysis of Contact Problems

2014 ◽  
Vol 9 (4) ◽  
Author(s):  
Margarida Machado ◽  
Paulo Flores ◽  
Jorge Ambrósio
Keyword(s):  
Computation Time ◽  
Contact Problems ◽  
Contact Forces ◽  
Lookup Table ◽  
Direct Access ◽  
Normal Vector ◽  
Parametric Surface ◽  
Dynamic Simulations ◽  
Contact Points ◽  
Definition Of

The aim of this work is to present an efficient methodology to deal with general 3D-contact problems. This approach embraces three steps: geometrical definition of 3D surfaces, detection of the candidate contact points, and evaluation of the contact forces. The 3D-contact surfaces are generated and represented by using parametric functions due to their simplicity and ease in handling freeform shapes. This task is carried during preprocessing, which is performed before starting the multibody analysis. The preprocessing procedure can be condensed into four steps: a regular and representative collection of surface points is extracted from the 3D-parametric surface; for each point the tangent vectors to the u and v directions of the parametric surface and the normal vector are computed; the geometrical information on each point is saved in a lookup table, including the parametric point coordinates, the corresponding Cartesian coordinates, and the components of the normal, tangent, and bitangent vectors; the lookup table is rearranged such that the u-v mapping is converted into a 2D matrix being this surface data saved as a direct access file. For the detection of the contact points, the relative distance between the candidate contact points is computed and used to check if the bodies are in contact. The actual contact points are selected as those that correspond to the maximum relative indentation. The contact forces are determined as functions of the indentation or pseudopenetration, impact velocity, and geometric and material properties of the contacting surfaces. In general, lookup tables are used to reduce the computation time in dynamic simulations. However, the application of these schemes involves an increase of memory needs. Within the proposed approach, the amount of memory used is significantly reduced as a result of a partial upload into memory of the lookup table. A slider-crank mechanism with a cup on the top of the slider and a marble ball are used as a demonstrative example. A contact pair is considered between a cup and a marble ball, the contact forces for which are computed using a dissipative contact model.

scholarly journals Dialectical and activity-based foundations for the modern original definition of science

2021 ◽  
Vol 21 (3-4) ◽  
pp. 22-30
Author(s):  
Roman V. Sorokin
Keyword(s):  
Social Life ◽  
Technological Development ◽  
Methodological Approach ◽  
Scientific Activity ◽  
General Definition ◽  
Modern Problem ◽  
Theoretical Understanding ◽  
Actual Problem ◽  
Original Definition ◽  
Definition Of

The article is devoted to the actual problem of uncertainty in science. The work done not only contributes to the removal/solution of this modern problem, but also contributes to the theoretical understanding of the need for qualitative changes in the sphere of scientific activity, the most organic combination of theory with practice to form a new form of science, guaranteed to remove the global dangers and uncertainties of scientific and technological development. The author presents the basis for the formation of a modern, general definition of science, the absence of which indicates the presence of the above problem. The aim of the research is to give a modern general definition of science, making a serious step, if not to the final solution, then to a generally meaningful solution of this problem. In the authors opinion, all substantive elements necessary for forming a modern general definition of science have already been identified, but they are not structured. The methodological approach has a high importance in solving this problem, and the emphasis should be placed on dialectics, rather than formal logic. In dialectical methodology, it is necessary to refer to the theory of dialectical development from the abstract to the concrete, as well as the general theory of activity. The specificity of science is defined in the consistent disclosure of the content of science as knowledge, as individual-collective, internalist-externalist activity and as a sphere of social life. As a result of the analysis of these aspects the author comes to the initial, general and actual definition of science.

Postmodern More

Moreana ◽  
2003 ◽  
Vol 40 (Number 153- (1-2) ◽  
pp. 219-239
Author(s):  
Anne Lake Prescott
Keyword(s):  
Human Language ◽  
Thomas More ◽  
The Stability ◽  
Definition Of ◽  
Recent Critic

Thomas More is often called a “humanist,” and rightly so if the word has its usual meaning in scholarship on the Renaissance. “Humanist” has by now acquired so many different and contradictory meanings, however, that it needs to be applied carefully to the likes of More. Many postmodernists tend to use the word, pejoratively, to mean someone who believes in an autonomous self, the stability of words, reason, and the possibility of determinable meanings. Without quite arguing that More was a postmodernist avant la lettre, this essay suggests that he was not a “humanist” who stalks the pages of much recent postmodernist theory and that in fact even while remaining a devout Catholic and sensible lawyer he was quite as aware as any recent critic of the slipperiness of human selves and human language. It is time that literary critics tightened up their definition of “humanist,” especially when writing about the Renaissance.

Populism and Liberal Democracy

2019 ◽  
Author(s):  
Takis S. Pappas
Keyword(s):  
United States ◽  
Liberal Democracy ◽  
The United States ◽  
Comprehensive Theory ◽  
The People ◽  
Original Definition ◽  
Key Issues ◽  
Great Relevance ◽  
Definition Of

Based on an original definition of modern populism as “democratic illiberalism” and many years of meticulous research, Takis Pappas marshals extraordinary empirical evidence from Argentina, Greece, Peru, Italy, Venezuela, Ecuador, Hungary, the United States, Spain, and Brazil to develop a comprehensive theory about populism. He addresses all key issues in the debate about populism and answers significant questions of great relevance for today’s liberal democracy, including: • What is modern populism and how can it be differentiated from comparable phenomena like nativism and autocracy? • Where in Latin America has populism become most successful? Where in Europe did it emerge first? Why did its rise to power in the United States come so late? • Is Trump a populist and, if so, could he be compared best with Venezuela’s Chávez, France’s Le Pens, or Turkey’s Erdoğan? • Why has populism thrived in post-authoritarian Greece but not in Spain? And why in Argentina and not in Brazil? • Can populism ever succeed without a charismatic leader? If not, what does leadership tell us about how to challenge populism? • Who are “the people” who vote for populist parties, how are these “made” into a group, and what is in their minds? • Is there a “populist blueprint” that all populists use when in power? And what are the long-term consequences of populist rule? • What does the expansion, and possibly solidification, of populism mean for the very nature and future of contemporary democracy? Populism and Liberal Democracy will change the ways the reader understands populism and imagines the prospects of liberal democracy.

scholarly journals A remark on local fractional calculus and ordinary derivatives

2016 ◽  
Vol 14 (1) ◽  
pp. 1122-1124 ◽  
Author(s):  
Ricardo Almeida ◽  
Małgorzata Guzowska ◽  
Tatiana Odzijewicz
Keyword(s):  
Fractional Calculus ◽  
Fractional Derivative ◽  
Short Note ◽  
General Definition ◽  
Local Fractional Derivative ◽  
Fundamental Properties ◽  
Local Fractional Calculus ◽  
Definition Of

AbstractIn this short note we present a new general definition of local fractional derivative, that depends on an unknown kernel. For some appropriate choices of the kernel we obtain some known cases. We establish a relation between this new concept and ordinary differentiation. Using such formula, most of the fundamental properties of the fractional derivative can be derived directly.

scholarly journals AB0677 REVISING THE DEFINITION OF REACTIVE ARTHRITIS AND DIFFERENTIATION FROM UNDIFFERENTIATED SPONDYLOARTHRITIS

2020 ◽  
Vol 79 (Suppl 1) ◽  
pp. 1633.2-1634
Author(s):  
F. Cosan ◽  
O. M. Gedar
Keyword(s):  
Causative Agent ◽  
Reactive Arthritis ◽  
Case Reports ◽  
Experimental Studies ◽  
Classification Criteria ◽  
General Definition ◽  
Parasitic Infections ◽  
Undifferentiated Spondyloarthritis ◽  
Classical Definition ◽  
Definition Of

Background:Reactive arthritis (ReA) is defined by 1999 ACR criteria as arthritis preceding a bacterial genitourinary (GUS) or gastrointestinal (GIS) infection in 3 days-6 weeks and evidence of triggering infection. Recently, ReA is classified as SpA and patients who do not fulfill SpA criteria are classified as undifferentiated spondyloarthritis (USpA) according to ASAS/EULAR SpA classification criteria.Objectives:In several case reports which are associated with other infective agents are reported and the definition is extended for some clinicians so that SpA which is occurred after any infection is called as ReA. On the other hand, some researchers still accept the classical definition of ReA. The problem with the heterogeneity of opinions and unstandardized definition of ReA hinders studies about pathogenesis and standardization of treatments. In this study, we aimed to determine the spectrum of the use of the definition of reactive arthritis in publications in PubMed between 2009-2019.Methods:The ReA keyword is searched in PubMed for the years between 2009-2019. 248 different publications have been identified and included in this research. 89 articles, 47 reviews, 108 case reports, 2 guidelines, and 2 editorials reviewed for the definition of ReA.Results:Only 42.7% (106 patients) of these publications meet the classical definition which suggests ReA after only GIS and GUS infections. In 4 (1.6%) of the publications ReA was defined after GIS, GUS and oropharyngeal infections; in 3 (1,2%) of the publications after any bacterial infection; in 9 (3.6%) of the publications after any infection. In 8 (3.2%) of the publications, ReA and USPA was used correspondingly. In 39 (15,7%) of the publications the term agent related, ReA was used without making a general definition for ReA. 79 publications (31,9%) have not defined ReA.According to causative agent and ReA relationship, in 64 (24,6%) general infective agents, in 75 (30,2%) classical agents, in 22 (8,9%) other bacterial agents, in 23 (9,3%) streptococcus, in 10(4%) intravesical BCG, in 6 (2.4%) HIV, in 6 (2.4%) tuberculosis, in 12 (4,8%) clostrudium difficle, in 2 (0.8%) parasites were reported. In 31 (12,5%) of the publications the causative agent for the ReA was unknown, the diagnosis was made clinically.Conclusion:In this study, it is aimed to draw attention terminology intricacy and the need for the standardization of the definition of ReA and USpA. It is clear that to standardize the definition of Rea and USpA is necessary. Between 2009-2019 there are reported cases diagnosed as ReA associated with bacterial infections (especially with Clostridium difficile, streptococcus and tuberculosis infections), and viral infections (by a majority with HIV), and parasitic infections. It is not clear if we need to define them classically or define them as USPA. Another important consideration is the necessity of extended laboratory investigations to find out the real causative agent even if the patient is clinically diagnosed with ReA. The requirement of the differentiation between ReA and USpA must be revealed for therapeutic researches.References:[1]A proposal for the classification of patients for clinical and experimental studies on reactive arthritis. Pacheco-Tena C, Burgos-Vargas R, Vázquez-Mellado J, Cazarín J, Pérez-Díaz JA. J Rheumatol. 1999 Jun;26(6):1338-46.[2]The Assessment of SpondyloArthritis International Society classification criteria for peripheral spondyloarthritis and for spondyloarthritis in general. Rudwaleit M, van der Heijde D, Landewé R, Akkoc N, Brandt J, Chou CT, Dougados M, Huang F, Gu J, Kirazli Y, et al. Ann Rheum Dis. 2011;70:25–31.Disclosure of Interests:None declared

scholarly journals Slipping–rolling transitions of a body with two contact points

2021 ◽  
Author(s):  
Mate Antali ◽  
Gabor Stepan
Keyword(s):  
Rigid Body ◽  
Contact Point ◽  
Static Friction ◽  
Rigid Body Dynamics ◽  
Contact Forces ◽  
Friction Forces ◽  
Contact Points ◽  
Body Dynamics ◽  
Coulomb Model ◽  
Rigid Surfaces

AbstractIn this paper, the general kinematics and dynamics of a rigid body is analysed, which is in contact with two rigid surfaces in the presence of dry friction. Due to the rolling or slipping state at each contact point, four kinematic scenarios occur. In the two-point rolling case, the contact forces are undetermined; consequently, the condition of the static friction forces cannot be checked from the Coulomb model to decide whether two-point rolling is possible. However, this issue can be resolved within the scope of rigid body dynamics by analysing the nonsmooth vector field of the system at the possible transitions between slipping and rolling. Based on the concept of limit directions of codimension-2 discontinuities, a method is presented to determine the conditions when the two-point rolling is realizable without slipping.

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